OPTIMIZATION OF THE BIPED ROBOT GAIT USING GENETIC ALGORITHM

IntroductionThe control of biped walking machines re-mains a challenge due to the high degree of com-plexity,organization,and efficiency required tomaintain balance[1,2 ] .Recently,realizing the dy-namic walking of the biped is of interest to manyresearchers and engineers.One method is to designa kind of gait,then use it as a reference trajectoryfor control. According to the deviation betweenthe Zero Moment Point(ZMP) and the center ofshape ofthe supporting area,a kind of optimal gaithas be…     

FINE-GRAINED DISTRIBUTED MULTIMEDIA SYNCHRONIZA-TION MODEL——ENHANCED FUZZY-TIMING PETRI NET

IntroductionDistributed multimedia systems integrate a va-riety of media,including time dependent media,such as audio and video,and time independent me-dia,such as text,graphics,and images.Multime-dia synchronization refers to the temporal composi-tion of the data streams. Strams can be composedof temporal series of information units called Logi-cal Data Units (LDU) (e.g.,a video stream is atemporal series of video frames) .Multimedia synchronization can be modeledaccording to different gra…     

Theoretical Explanation for Lower Order Harmonic Resonance Phenomenon of Three—Ring Gear Transmissions

Dynamic investigations revealed that lower order harmonic resonance phenomenon exists in the threering gear transmission. That is, when the input speed is close to 1/3, 1/6, 1/9,-“, 1/3n of the primary natural frequency of the transmission, the loads on the bearings and gears are especially high. This paper explained thisphenomenon from the viewpoint of parametric resonance in terms of perturbation technique. A conclusion was drawn that the basic reason for this phenomenon is the primary resonance caused by forcing excitation and para-metric resonance caused by parametric change.     

Empirical Estimation of Term Structure of Interbank Rates in China

Nelson-Siegel model （ NS model） and 2 extended NS models were compared by using daily interbank government bond data Based on the grouping of bonds according to the residual term to maturity, the empirical research proceeded with in-sample and outof-sample tests. The results show that the 3 models are almost equivalent in estimating interbank term structure of interest rates. Within the term to maturities between 0 and 7 years, the gap of the absolute errors of the 3 models between in-sample and out-of-sample is smRller than 0.2 Yuan, and the absolute values of the in-sample and out-of-sample errors are smaller than 0. 1 Yuan, so the estimation is credible. Within the term to maturities between 7 and 20 years, the gap of the absolute errors of the 3 models between in-sample and out-of-sample is larger than 0.4 Yuan, and the absolute values of the in-sample and out-of-sample errors are larger than 1.0 Yuan, so the estimation is incredible.     

Study on the toxic effect of the mixture of organophosphorus pesticide on perinatal rats

Objective To observe the toxic effect of the mixture of organophosphorus pesticide （MOP） on maternal rats and on the growth and development of their offspring. Methods Totally 40 Sprague-Dawley pregnant rats were randomly divided into three MOP dose groups and one control to which their offspring would be assigned, The experimental dosage of MOP and distilled water were administered orally starting on gestation day 15 and continued for 35 days. The physical development indices and the learning ability of F1 rats were measured during lactation. The pathological changes of uterus and liver of F0 rats were observed after weaning, while the weight ratio of uterus and some viscera to body of the F1 were examined. Results There were obvious changes of uterus and liver in the high-dose group of F0. The body-weight accretion of the F1 in high-dose group was obviously lower than that in control group （P〈0.05）. Some of the MOP F1 rats development indices delayed significantly （P〈 0. 05）, the learning ability decreased obviously, and the time of setting up memory prolonged （P〈0.05）. The ratio of the uterus weight to bodyweight in the F1 MOP groups was significantly higher than that in control group （P〈0. 05）. Oonclusion The experiment doses of MOP are proved to have significant reproductive toxicity on perinatai rats.     

A Simplified Approach to Analysis of High—Rise Frame Tube Structures

Based on finite element method and finite strip method, a simplified approach was presented to analyze high-rise frame tube structures. The generalized strip element is introduced and then the generalized stiffness matrices for beam and column-line are derived by using the displacement functions that describe the nodal displace-ments and displacement transforms. Furthermore, the formulas for the generalized stiffness matrix of generalized strip element and load arrays corresponding to the displacement parameters were developed. It is shown through a series of numerical computation that the nodal angular displacements at the same floor in a generalized strip element are approximately identical. A comparison of the finite element method and the finite strip method shows that the simolified approach not only is accurate, but also reduces the number of basic unknown quantities.     

Skin Penetration of Inorganic and Metallic Nanoparticles

Nanotechnology is a rapidly growing science of producing and utilizing nano-sized particles. These nanomaterials are already having an impact on health care. Nowadays we are using nanoproducts in various fields,and this leads to direct and indirect exposure in human. Skin is the largest organ of the body and functions as the first-line barrier between the external environment and the internal organs of the human body. Then people worry about the nanoparticle（NP） small enough to penetrate the skin. The potential of solid NPs to penetrate the stratum corneum and to diffuse into underlying structures raises a considerable health and safety issue for their topical use. We review the current state of knowledge on the potential risk to human health presented by skin penetration of NPs nanotechnologies, and explore the robustness of current research strategies and directions to ensure the development of ＂safe＂ and publicly accepted nano-based products and technologies.     

An improved dynamic hysteretic model for soils

A dynamic hysteretic constitutive model for soil dynamics, Ramberg-Osgood model, is introduced and improved in the paper. Since the model is inherently 1D and is assumed to apply to shear components only, other components of the deviatorie stress and strain and their relations in 3D case could not be fully described. Two parameters, the equivalent shear stress and the equivalent shear strain, are defined to reasonably establish relations between each of stress and strain components respectively. The constitutive equations of the initial Ramberg-Osgood model are extended to generalize the theory into multidimensional cases. Difficulties of the definition of load reversal in 3D are also addressed and solved. The improved constitutive model for soil dynamics is verified by comparisons with different soil dynamic testing data covering both sands and clays. Results show that the dynamic nonlinear hysteretie behaviors of soils can be well predicted with the improved constitutive model.     

Aerodynamic characteristics of airship Zhiyuan-1

An airship named ＂Zhiyuan-l＂ was designed/fabricated/flied as a technical demonstration for stratospheric airship during 2007--2009 by Shanghai Jiaotong University. The calculation method and procedure of aerodynamic parameters were introduced, and the optimized configuration of the hull and the aerodynamic layout were given in this paper. Wind tunnel tests with different configurations, different pitch angles and different yaw angles were performed to study the wind load characteristics of the rigid model of the airship ＂Zhiyuan-1＂ in the φ3.2 m wind tunnel at China Aerodynamics Research ＆ Development Center. Also the numerical calculation about the test model was carried out to investigate the aerodynamic behavior. According to the results of wind test and numerical calculation, the excellent hull configuration of the airship ＂Zhiyuan-1＂ with lower drag characteristic was confirmed, which is based on optimism of the Michel transition law. And the phenomena of pressure coefficient distribution were discussed according to the results of wind tunnel test and numerical calculation at different flight attitudes.     

An improved method of detecting chaotic motion for rotor-bearing systems

Based on reconstructing the phase space and calculating the largest Lyapunov exponent, an improved method of detecting chaotic motion is presented for rotor-bearing systems. The method is an improvement to the Wolf method and the Rosenstein algorithm. The improved method introduces the correlation integral function method to estimate the embedding dimension and the reconstruction delay simultaneously, and it makes tracks for the evolutions of every pair of the nearest neighbors to improve the utilization of the reconstructed phase space. Numerical calculation and experimental verification show that the improved method can estimate the proper reconstruction parameters and detect chaotic motion of rotor-bearing systems accurately. In addition, the analytical results show that the current approach is robust to variations of the embedding dimension and the reconstruction delay, and it is applicable to small data sets.     

Kinematics Modeling of an Omnidirectional Autonomous Mobile Robot with Castor Wheels

The kinematics model of an omnidirectional wheeled mobile robot （WMR） platform with 3 castor wheels was built, which includes the actuated inverse solution and the sensed forward solution. Motion simulations verify the consistency between the actuated inverse solution and the sensed forward solution. Analysis results show that the WMR possesses 3 degrees of freedom, and its motion trajectory is a straight line. The ＂pushing＂ and ＂pulling＂ motion patterns of the WMR can be generated by using different wheel orientations. It can be used in the places where the space is limited.     

场地搜救机器人路径规划

介绍了场地搜救轮式移动机器人的硬件组成及工作原理。提出了一种能迅速、准确的搜索到目标信号的路径规划算法。实验表明,该算法可使搜救机器人避开障碍物、识别边界、自动定位,降低了搜索时间,提高了搜索到目标的可靠性。     

全自动变形监测系统精度分析

基于测量机器人的固定全自动极坐标和固定全自动极坐标差分变形,提出了监测中的2种技术方案,推导了2种监测方案的精度估算公式,并对精度估算公式进行简化,用模拟数据进行了精度估算。研究了差分测量的原理和提高精度的方法,分析了2种监测方案的优缺点。分析表明：基于测量机器人的固定全自动极坐标差分变形监测技术方案是高精度自动变形监测中的最理想方案。     

工业机器人单目双视的应用研究

工业机器人单目双视系统充分利用机器人位姿便于调整的优势,在机器人带动摄像机一起运动过程中,对包含工件的场景进行多次图像采集,实现目标点三维坐标的识别。论文介绍了机器人摄像机的非线性快速补偿算法的定标原理,给出了机器人单目双视三维检测实验。单目双视结合工业机器人控制软件,可使工业机器人能实时调整运动轨迹也可对工件进行非接触测量,提高了工业机器人的适应性和灵活性。     

Research on Miniature Hexapod Bio-robot

This paper described the structure and control of a new kind of miniature hexapod bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can move forwards and backwards. The external dimensions of bio-robot is： length 30 mm, width 40 mm, height 20 mm, weight 6. 3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.     

ANALYZING ON THE VIBRATION CHARACTERISTICS OF A MICRO PIEZOELECTRIC ROBOT IN PIPELINE

IntroductionIt is very important to master the locomotionprinciple of a micro piezoelectric actuator for peo-ple to design a micro piezoelectric actuator or arobot. so far,experimental method has been theonly approach available to design a micro piezoelec-tric actuator or a robot[1～ 4 ] .As a result,itis diffi-cult to make a parameterized design or an optimaldesign for a micro piezoelectric robot. Therefore,it is in dire need to constitute the locomotion equa-tion of the robot. In the paper,t…     

Dynamic Analysis of the Biped Ice-skater Robot of Passive Wheel Type

A new passive wheel type of biped ice-skater robot （BISR） subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.     

Learning User Intention in Networked Mobile Robot Control

Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay from data transmission over Internet. The robot cannot accomplish the desired actions of the remote operator in time, which severely impairs reliability and efficiency of the robot system. This paper investigated a novel approach, learning user intention, to compensate the uncertain time delay with the autonomy of a mobile robot. The user intention to control and operate the robot was modeled and incrementally inferred based on Bayesian techniques so that the desired actions could be recognized and completed by the robot autonomously. Thus the networked robot is able to fulfill the task assigned without frequent interaction with the user, which decreases data transmission and improves the efficiency of the whole system. Experimental results show the validity and feasibility of the proposed method.     

仿人形机器人运动的自适应控制

用Danevit-Hartenberg坐标变换法推导了仿人机器人的动力学与运动学方程,建立了仿人机器人的广义雅可比矩阵.设计了自适应控制器,以保证该仿人机器人系统的渐近稳定.给出了该机器人在做高难度舞蹈动作时各关节的运动轨迹以及仿真截图.结果验证了该方法的可行性和有效性.     

Study and Development of the Biped Ice Skating Robot with Passive Wheels

A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn.